基于DSP的压电电机的驱动系统性能测试与分析
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摘要
针对高端制造装备对大行程、高精度直线运动机构的广泛需求,研究集宏微运动于一体的新型直线压电电机,提出交流宏驱动和直流微驱动两种工作模式,建立集宏微两种驱动方式于一体的驱动系统。驱动系统输出两相交流电压,相位-90~90°、频率10~60kHz、电压幅值0~400V之间连续可调,输出直流电压在0~400V动态可调,实现了交直流电压无缝转换。系统以TI公司提供的DSP28335为主控芯片进行驱动控制,运放芯片PA85搭建线性直流式放大电路。同时,考虑受被控制对非线性、时变性和耦合性等因素的影响,通过采样电路对输出信号进行实时采样,采用模糊自适应增量式比例-积分-微分对控制系统修正调节。结果表明,经过模糊自适应修正后的驱动电路输出量得到明显改善,驱动系统输出信号的相位、频率控制精度分别为5°和0.5kHz,能够稳定地驱动直线和旋转压电电机,具有较好的通用性。
In order to realize the large-stroke and high-resolution movement of advanced manufacturing industry,the new liner piezoelectric motor that composes with the ultrasonic motor and the piezoelectric ceramic drive in the structure is proposed.Therefore,the large-stoke and high-resolution drive system that achieve the integration of the macro and micro drive system is proposed.The system realizes the seamless switching between AC and DC voltage.When working in the macro-drive state,it can output two adjustable phase(-90°~90°)and adjustable frequency(10kHz~60kHz)AC voltage.When working in the micro-drive state,it outputs the adjustable DC voltage.The controller based on TMS320F28335 processes and controls the state of the drive system.The chip PA85 is used to form DC amplifier stabilization circuit which can output the adjustable high DC voltage for the system.According to the influences on the controlled object which has non-linear,time-varying and coupling characteristics,the control algorithm of fuzzy adaptive incremental PID is proposed.The experiments results show that the outputs of the drive system have been improved obviously by the modification of the regulator.Moreover,using the rotary ultrasonic motor and the new liner piezoelectric motor to test the drive system,the results show that the control accuracy of phase and frequency is 5° and 0.5kHz,which can drive two types of piezoelectric motor in agood state,and has good generality.
In order to realize the large-stroke and high-resolution movement of advanced manufacturing industry,the new liner piezoelectric motor that composes with the ultrasonic motor and the piezoelectric ceramic drive in the structure is proposed.Therefore,the large-stoke and high-resolution drive system that achieve the integration of the macro and micro drive system is proposed.The system realizes the seamless switching between AC and DC voltage.When working in the macro-drive state,it can output two adjustable phase(-90°~90°)and adjustable frequency(10kHz~60kHz)AC voltage.When working in the micro-drive state,it outputs the adjustable DC voltage.The controller based on TMS320F28335 processes and controls the state of the drive system.The chip PA85 is used to form DC amplifier stabilization circuit which can output the adjustable high DC voltage for the system.According to the influences on the controlled object which has non-linear,time-varying and coupling characteristics,the control algorithm of fuzzy adaptive incremental PID is proposed.The experiments results show that the outputs of the drive system have been improved obviously by the modification of the regulator.Moreover,using the rotary ultrasonic motor and the new liner piezoelectric motor to test the drive system,the results show that the control accuracy of phase and frequency is 5° and 0.5kHz,which can drive two types of piezoelectric motor in agood state,and has good generality.
引文
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[14]张建桃,张铁民,梁莉,等.超声电机非线性建模和广义预测控制[J].电机与控制学报,2011,15(6):50-56.Zhang Jiantao,Zhang Tiemin,Liang Li,et al.Nolinear modeling and generalized predictive control of ultrasonic motor[J].Electric Machines and Control.2011,15(6):50-56.(in Chinese)
[15]梁大志,张军,赵淳生,等.旋转型超声电机伺服特性探讨[J].振动、测试与诊断,2014,34(2):306-309.Liang Dazhi,Zhang Jun,Zhao Chunsheng,et al.The exploration of servo characteristics of rotary ultrasonic motor[J].Journal of Vibration,Measurement&Diagnosis,2014,34(2):306-309.(in Chinese)
[2]朱鹏举,时运来,赵淳生,等.一种新型大推力直线压电作动器[J].振动、测试与诊断,2015,35(1):163-169.Zhu Pengju,Shi Yunlai,Zhao Chunsheng,et al.A new type of large-thrust linear piezoelectric actuator[J].Journal of Vibration,Measurement&Diagnosis,2015,35(1):163-169.(in Chinese)
[3]Zhang Tiemin,Xie Zhiyang,Zhang Jiantao,et al.A novel ultrasonic motor driver based on two phase PWM signals[J].Advanced Materials Research,2011,189-193:1543-1546.
[4]Zhang Tiemin,Cao Fei,Li Shenghua,et al.Finite element study on the cylindrical linear piezoelectric motor micro driven[C]∥Intelligent Robotics and Applications,PartⅠ.Switzerland:Springer International Publishing,2014:179-186.
[5]Zhang Tiemin,Cao Fei,Li Shenghua,et al.FEM analysis and parameter optimization of a linear piezoelectric motor macro driven[C]∥Intelligent Robotics and Applications,PartⅠ.Switzerland:Springer International Publishing,2014:171-178.
[6]孙立宁,孙绍云,曲东升,等.大行程高精度宏/微双重驱动机器人系统的研究[J].高技术通讯,2004,14(4):50-52.Sun Lining,Sun Shaoyun,Qu Dongsheng,et al.Study on the large travel range and high precision macro/micro dual-drive manipulator[J].Chinese High Technology Letters,2004,14(4):50-52.(in Chinese)
[7]Pahk H J,Lee D S,Park J H.Ultra precision positioning system for servo motor-piezo actuator using the dual servo loop and digital filter implementation[J].International Journal of Machine Tools&Manufacture,2001,41(1):51-63.
[8]陈洪涛,程光明,肖献强,等,宏/微双重驱动技术的研究和应用现状[J].机械设计与制造,2007(1):153-155.Chen Hongtao,Cheng Guangming,Xiao Xianqiang,et al.Research and application of macro/micro dual-drive technology[J].Machinery Design&Manufacture,2007(1):153-155.(in Chinese)
[9]张铁民,曹飞,梁莉,等.一种宏微驱动型直线压电电机及其驱动方法:中国,CN103281005A[P].2013-09-04.
[10]张铁民,许志林,曹飞,等.宏微压电驱动器的电源设计与试验[J].压电与声光,2015,37(1):167-171.Zhang Tiemin,Xu Zhilin,Cao Fei,et al.Design and experiment of a power supply to drive a macro-micro piezoelectric actuator[J].Piezoelectrics&Acoustooptics,2015,37(1):167-171.(in Chinese)
[11]王金鹏,时运来,薛雯玉,等.高低温环境下超声电机伺服控制系统的性能[J].振动、测试与诊断,2011,31(3):291-294.Wang Jinpeng,Shi Yunlai,Xue Wenyu,et al.Performance of ultrasonic motor servo control system under high and low temperature[J].Journal of Vibration,Measurement&Diagnosis,2011,31(3):291-294.(in Chinese)
[12]朱晓锦,曹浩,陆美玉,等.基于PA95功放芯片的压电功率放大器开发[J].压电与声光,2008,30(5):561-564.Zhu Xiaojin,Cao Hao,Lu Meiyu,et al.Development of piezoelectric power amplifier based on PA95chip[J].Piezoelectrics&Acoustooptics,2009,30(5):561-564.(in Chinese)
[13]李迎,孙亚飞.基于增量PID的压电微位移驱动控制系统开发[J].测控技术,2011,30(3):40-44.Li Ying,Sun Yafei.Development of actuation control system of piezoelectric micro-displacement device based on increment pid algorithm[J].Measurement&Control Technology,2011,30(3):40-44.(in Chinese)
[14]张建桃,张铁民,梁莉,等.超声电机非线性建模和广义预测控制[J].电机与控制学报,2011,15(6):50-56.Zhang Jiantao,Zhang Tiemin,Liang Li,et al.Nolinear modeling and generalized predictive control of ultrasonic motor[J].Electric Machines and Control.2011,15(6):50-56.(in Chinese)
[15]梁大志,张军,赵淳生,等.旋转型超声电机伺服特性探讨[J].振动、测试与诊断,2014,34(2):306-309.Liang Dazhi,Zhang Jun,Zhao Chunsheng,et al.The exploration of servo characteristics of rotary ultrasonic motor[J].Journal of Vibration,Measurement&Diagnosis,2014,34(2):306-309.(in Chinese)